TargetLink - Çokesen Elektronik · Simulink ®/Stateflow®-based modeling n Support for Simulink...

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TargetLinkn High-quality production code generation directly from Simulink®/Stateflow®

n Powerful software design and testing features

n High-performance, native AUTOSAR support

n Certified for IEC 61508, ISO 26262, and ISO 25119

n TargetLink Ecosystem – powerful tool chain for highly efficient model-based development

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TargetLinkProduction Code Generation Software /

2018

TargetLinkProduction code generation for the highest demands

Highlights

�n High-quality production code generation directly

from Simulink®/Stateflow®

�n Powerful software design and testing features

�n High-performance, native AUTOSAR support

�n Certified for IEC 61508, ISO 26262, and ISO 25119

�n TargetLink Ecosystem – powerful tool chain for highly

efficient model-based development

Application AreasModel-based design has become the established devel-

opment method across many industries, and production

code generation is the logical step for turning models

into efficient, production-ready code. TargetLink gener-

ates production code (C code) straight from the MATLAB®/

Simulink/Stateflow graphical development environment.

The C code generation options range from plain ANSI C

code to optimized fixed- or floating-point code for AUTO-

SAR platforms. Versatile code configuration options ensure

that the production code can handle processor constraints.

Key BenefitsWith TargetLink, you can convert graphical models directly

and deterministically into highest quality production code.

Benefit from TargetLink’s numerous strenghths, such as:

n Tool and code proven in practice – in countless

production projects and millions of vehicles

n Best-in-class code – highly efficient, highly

configurable and with fully traceable model/code

dependency

n Powerful software design features, e.g., with

the TargetLink Data Dictionary

n Convenient software verification due to the push-

button model-in-the-loop (MIL)/software-in-the-loop

(SIL)/processor-in-the-loop (PIL) simulation concept –

verify your concepts and code early and avoid expen-

sive ECU software errors

n Ideal for automotive and other industries

n Suitable for AUTOSAR and non-AUTOSAR projects

n Strong partner tools (TargetLink Ecosystem) for model

design, validation, and verification

n Certification for ISO 26262, ISO 25119, and IEC

61508 and derivative standards

n Tool integration with the data management software

SYNECT, the simulation software VEOS, and the

system architecture software SystemDesk

n Perfect for on-target bypassing together with

dSPACE’s ECU interface software – closing the gap

between function and production development

TargetLink

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Production Code Generation Software /

2018

Main Features and Benefits

Feature Description Benefit

Code efficiency

�n Efficient fixed-point or floating-point production code directly from MATLAB/Simulink/Stateflow

�n Your specifications – models and diagrams – are directly translated into efficient C code

Code reliability �n Consistent, deterministic translations of models into stress-tested C code

�n Errors such as typing errors, oversights, misunderstandings are avoided

Human readability �n Concise, yet readable code �n Code reviews are easy to perform

Automatic scaling �n Intelligent scaling based on worst-case propagation of signal ranges and simulation-based scaling

�n Shortens the time-consuming and error-prone scaling process

Test mechanisms �n Various test levels to test the production code against the specification (MIL, SIL, PIL)

�n Malfunctions are found at the earliest stage

Incremental code generation �n Modular code generation, i.e., for specific subsystems �n Faster code generation, preserving approved code

Model referencing support �n Developing models on a modular/component basis �n Distributed development by large teams is much easier, and large models can be handled more efficiently.

Multirate code �n Full support of multirate systems with intertask communication

�n You can define tasks at block level

TargetLink Data Dictionary �n Central container to handle variables, data structures, scaling formulas, tasks, functions

�n You can manage complex data to plan and structure your projects

Code generation straight from the Data Dictionary

�n Generation of code files and A2L files for Data Dictionary variables, independent of their use in TargetLink models

�n Simplified software integration and integration testing for code from multiple TargetLink models/subsystems and legacy variables

TargetLink Blockset �n The free TargetLink Blockset (stand-alone) can be used without having the Base Suite installed

�n Large workgroups can work with TargetLink models without the need for additional TargetLink licenses

Compliance with standards �n Compliance with relevant standards such as ASAM-MCD 2MC (ASAP2), AUTOSAR, MISRA, and OSEK

�n Quality and interoperability guaranteed

AUTOSAR support �n Support for modeling and code generation for AUTOSAR software components (SWC), and generation of SWC descriptions

�n TargetLink bridges the gap between model-based design and AUTOSAR-compliant software development

Calibration data generation �n Calibration data exported as ASAM-MCD 2MC (ASAP2) file for calibration tools

�n Automated and complete process with perfect consistency between model and calibration data

Documentation �n Automatic model and code documentation �n Your projects are transparent and trackable

AUTOSAR software component (SWC) container exchange

�n Exchanging AUTOSAR SWC containers between TargetLink and SystemDesk

�n Safe and convenient round trips for AUTOSAR software development�n Access to SystemDesk simulation for proper software integration testing

Component-based development �n Innovative interface concept for ports, measurement signals and calibration parameters

�n Easily increase software reuse across different projects

Connection to dSPACE VEOS �n Export virtual ECUs from TargetLink and run them in VEOS in combination with other virtual ECUs and standard dSPACE tools like ControlDesk

�n Easy testing and experimenting with TargetLink code

Connection to dSPACE SYNECT �n Connecting to the client-server-based, central data management software SYNECT

�n Highly efficient, distributed, modular development – also for large development teams

FMI support �n Export of Functional Mock-up Units (FMUs) from TargetLink models based on the Functional Mock-up Interface (FMI) standard

�n Execution of TargetLink-generated code with offline and real-time simulators from third parties and dSPACE

On-Target Bypassing �n Integrating new functions directly into existing ECUs (using TargetLink and dSPACE ECU interface software, see p. 20 and p. 34)

�n Seamless transition from prototyping to series production�n No need to perform complex software integration

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2018

Order Information

Classification Type Order Number

TargetLink Base Suite Base Suite �n TBS

Target Optimization Modulesfor certain processors/compilers

Infineon C16x Tasking �n TOM_C16x/Tasking

Infineon TriCore Tasking �n TOM_TriCore/Tasking

Renesas SH-2/Renesas �n TOM_SH2/SHC

Other modules Target Simulation Module (for all supported processors) �n TSM

TargetLink Module for Operating Systems – OSEK �n TMOS_OSEK

TargetLink AUTOSAR Module �n TAS

TargetLink Data Dictionary Manager (included in TargetLink Base Suite)

�n DSDD_MANAGER

Relevant Software

Software

Included Stand-alone blockset for free model exchange �n TargetLink Blockset (stand-alone)

Data dictionary �n TargetLink Data Dictionary

Required Integrated development environment �n MathWorks MATLAB®/Simulink®/Stateflow®

�n Compiler for host simulation included in MATLAB

Operating system �n www.dspace.com/go/os_compatibility

Optional Compilers for processor-in-the-loop tests �n Target-specific compiler for processor-in-the-loop tests with Target Simulation Module (p. 6, p. 7)

Tool chain for On-Target Bypassing (p. 20, p. 34) �n ECU Interface Base Package

�n dSPACE Internal Bypassing Service

�n Target-specific compiler (third-party product: HighTec compiler)

Running Virtual ECUs (p. 32) �n VEOS

Connecting the dSPACE data management software SYNECT (p. 30)

�n SYNECT�n SYNECT Add-On for TargetLink (p. 30)

TargetLink Product Support CenterThe TargetLink Product Support Center is the primary online

resource for TargetLink users, providing information about

releases, compatibility, application notes, additional utili-

ties, TargetLink Known Problem Reports, etc. The address is

www.dspace.com/tlpsc

TargetLink

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2018

NEW: TargetLink 4.3

Feature Area Improvement

Simulink®/Stateflow®-based modeling �n Support for Simulink® resettable subsystems to control the reset behavior of all states in a subsystem more flexibly�n Improved support for function-call-triggered subsystems that now also includes the “held” and “reset” option for state reset behavior �n Support for the Delay block, Enabled Delay block, Resettable Delay block, and Variable Integer Delay block allowing for a wide range of options for delaying signals�n Support for NXOR operation at Logical Operator block�n Allow the use of min/max values for input signals of Bit Set block, Bit Clear block, Bitwise Operator block, and Shift Arithmetic block�n Improvements in black box feature to entirely ignore contents of subsystems for code generation, e.g., to perform certain actions in MIL mode only�n Custom Code Type II block now supports the use of Simulink buses for inputs, outputs, states, parameters, and work variables

AUTOSAR support �n Support for AUTOSAR 4.3 as the latest standard version on the AUTOSAR classic platform�n Support for the Rte_IsUpdated API call to collect information on whether a signal has been updated since the last read operation�n Support for AUTOSAR constant memory (to be used for calibration parameters) and AUTOSAR static memory (to be used for measurable signals) as another option to perform AUTOSAR-compliant calibration and measurement�n Support for AUTOSAR SwAddressMethods and memory segments as a comfortable way to map all TargetLink-generated variables and functions to the desired memory segments, which is important for safety-critical software�n Support for AUTOSAR Array of Struct interfaces during ARXML import/ARXML export/stub RTE generation. Modeling requires using buses and TargetLink ports/custom code for access.

Tool chain integration �n Improved integration with dSPACE SYNECT via the SYNECT Add-on for TargetLink (shipped separately)�n Support for A2L Export in version 1.6

Code generation core functionality �n Significant MISRA C compliance improvements for MISRA C:2012/C:2004, in particular for TargetLink look-up table functions and the TargetLink fixed-point library. All Mandatory and Required MISRA C:2012 for Autocode rules can be complied with.�n Simplified memory mapping to make sure that all variables and functions are assigned to the desired memory segments�n Improved variant coding for vectorized code with flexible vector sizes

Modular development �n Incremental A2L file generation, i.e., A2L files generated specifically for individual components.�n Specification of export directory for all sorts of artifacts such as source code files, object code files, etc.�n Improvements in workflow support for modular development using model referencing, incrementally generated subsystems, multiple TargetLink subsystems:�n Export all component artifacts to specified directories during component development and perform check-in�n Integrate previously developed components and their artifacts in a large integration model without any file copy operations

Data handling and graphical user interface (GUI)

�n Completely renewed TargetLink Property Manager�n Simplified visualization of large models�n Intuitive multi-editing functionality

�n TargetLink block dialog improvements�n Additional controls for block-specific settings�n Improved context menus

�n Progress bar during code generation with profiling information and ability to abort code generation

Miscellaneous �n New TargetLink demo models for�n Use of AUTOSAR Array of Struct interfaces�n Use of the AUTOSAR memory mapping using SwAddressMethods�n Use of Custom Code Type II blocks in combination with Simulink buses�n Use of modular development and artifact handling on component and integration level

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2018

Module Overview

TargetLink ModulesTargetLink is available as a base suite plus addi tional modules,

so that you can adapt it to your needs.

1) Usable in stand-alone mode without license.2) The Data Dictionary Manager is also available as a stand-alone license, e.g., for use with the stand-alone blockset.3) Selection of major microcontroller families supported. For a complete list, please refer to www.dspace.com/go/tlpil

Target Simulation Module (optional)�n Test your generated code on the target microcon-

troller (for supported processors and evaluation boards

see p. 7)

TargetLink AUTOSAR Module (optional)�n Support for the development of AUTOSAR software

components (SWC) (p. 26)

TargetLink Module for Operating Systems (optional)�n Support of OSEK/VDX-compliant operating systems

Target Optimization Modules (optional)�n For target-specific, optimized code generation

�n Uses compiler-specific language extensions and assembly

macros

TargetLink Base Suite�n Highly efficient ANSI C code generation from Simulink/

Stateflow

�n For all microcontrollers with ANSI C compiler

�n Fixed-point code, floating-point code or a mixture of both

�n TargetLink Data Dictionary (p. 18)

�n TargetLink Blockset (p. 10, p. 16)

�n Autoscaling (p. 11, p. 13-14)

�n Code coverage analysis (p. 24)

�n Modular development and code generation (p. 20)

Target OptimizationModules

Renesas SH-2

Infineon TriCore

Infineon C16x

TargetLinkBase Suite

TargetLink Base Suite License

ANSI Ccoder

TargetLinkBlockset

1)TargetLink Data

Dictionary2)

DocumentGenerator

Autoscaling

Automotive-SpecificModules

OSEK/VDX module AUTOSAR module

TargetLink Module Overview

Target SimulationModule3)

NXP (Freescale)MC56F83xx

NXP (Freescale)S12X

Infineon C16x

Renesas RH850

Renesas SH-2

Renesas V850

Infineon XC2000

Infineon TriCore/AURIX™

STMicroelectronics ARM Cortex M3

NXP (Freescale)MPC5xxx

ASAM-MCD 2MCfile generation

TargetLink

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2018

Supported Processors and Evaluation BoardsFor processor-in-the-loop simulation, TargetLink supports

the most common processors for embedded applications,

especially in the automotive field.

Processor FamilyCompiler Supported by Target Simulation Module

Evaluation Boards Supported by TargetLink

NXP (Freescale) MC56F83xx NXP (Freescale) CodeWarrior compilers NXP (Freescale) MC56F8367EVM

NXP (Freescale) MPC5xxx Green Hills, NXP (Freescale) CodeWarrior, GNU and Wind River compilers

Axiom MPC5554DEMO, NXP (Freescale) MPC5561EVB, NXP (Freescale) MPC5604BEVB and NXP (Freescale) MPC5748GEVB

NXP (Freescale) S12X Cosmic and NXP (Freescale) CodeWarrior compilers

NXP (Freescale) EVB9S12XEP100

Infineon C16x Tasking compilers i+ME eCAN C167 CR

Infineon TriCore Tasking and GNU1) compilers Infineon TriBoard TC1766, Infineon TriBoard TC1767, Infineon TriBoard TC1796 and Infineon TriBoard TC275

Infineon XC2000 Tasking compilers Infineon SK-EB XC2287

Renesas RH850 Green Hills compilers Renesas YRH850F1L

Renesas SH-2 Renesas compilers Renesas SDK7058 and SDK72513

Renesas V850 Green Hills compilers Renesas AB_050_Fx4_70F4012

STMicroelectronics ARM Cortex M3 Keil compilers Emerge-Engineering MEDKit on ARM

1) Only for TC275.

For more information on software compatibility with

target compilers and evaluation boards, please refer to:

www.dspace.com/go/tlpil

�n Model analysis and advice

�n Support for developing and integrating AUTOSAR-

compliant software components

�n Support for integrating the generated code in the ECU’s

software environment

�n Tool chain development and maintenance

�n Process consulting

Some of the evaluation boards need to be modi fied (loader,

external RAM, etc.). Please order them through dSPACE to

ensure a correct board setup.

TargetLink Engineering ServicesOur engineering portfolio includes special TargetLink

custo mer services, for example:

�n Hands-on support during introduction of TargetLink

�n Support during evaluations and pilot projects

�n Customer-specific TargetLink training

�n Integrating TargetLink into your development

processes

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2018

High-Quality Production Code GenerationFundamentals of High-Quality Production Code

Why Code Quality CountsCompared to code used in rapid control prototyping, where

developers need to have a lot of freedom when testing new

concepts, production code for electronic controls in vehicles,

planes, and for any other real-use industrial application

needs to fulfi ll very strict requirements in terms of quality.

For example, developers have to be sure that the code is

highly optimized, that it can be easily integrated with other

software, that it is readable in the present and in the future

to ensure maintainability, that all connections between requi-

rements, model and code are clear and comprehensible, and

that the code fulfi lls the relevant standards. In short: topmost

reliability, effi ciency, security, maintainability, traceability,

and – concerning the generation process – reproduceability

(i.e., the same model leads to the same code) is required.

TargetLink for High-Quality Production CodeThe production code generator dSPACE TargetLink is an

extremely powerful software system which ensures that

your code always achieves superior quality – and it does

so while letting you take your individual requirements and

the relevant standards into account. Despite TargetLink’s

comprehensive features, the typical steps in generating your

production code are easy to follow (p. 9, p. 10), with many

options to fi t the process to your individual environment.

Typical steps include the control design, the iterative vali-

dation and verifi cation (based on simulation), and the code

integration on the ECU. Furthermore, TargetLink interacts

smoothly with other tools from dSPACE and with tools from

other vendors, which together form the TargetLink Ecosy-

stem (p. 38).

TargetLink

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2018

Typical Steps in Generating Production Code

1) Valid only for fixed point software.

Calibration tools

Calibration

RTOSHand-writtencode

Legacycode

I/Ocode

Generated code

GeneratingAUTOSAR software

component descriptions

GeneratingASAM-MCD 2MC

descriptions

Automatic model and code

documentation

Modeling Approach

Model exchange in workgroups

Model Exchange viaTargetLink Blockset

TargetLink Data Dictionary

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Cod

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Definitions/declarations Variables Data structures Scaling formulas

Code information Function calls Tasks ...

Ach

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Val

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Integrating Generated Code on ECU

ECU

Create TargetLink model

from scratch

Single-rate and multi-ratemodeling

Prepare Simulink® model forTargetLink

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Opt

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Production Code Host Simulation

Production CodeTarget Simulation

Typical task Behavior validity checks Code generation settings Scaling1)

Typical task Scaling/discretization analysis1)

Saturation and overflow detection1)

Code coverage analysis

Typical task Memory measurement Execution time profiling Target code verification

MILModel-in-the-Loop

SILSoftware-in-the-Loop

PILProcessor-in-the-Loop

Simulink

Host PC

Evaluation board

Model Simulation and Code Specification

This diagram illustrates the workfl ow from

model design to code implementation.

It also shows that code verifi cation based

on simulation is an iterative process.

The workfl ow is described in greater

detail on the following pages.

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Workfl ow

Control Design and Function PrototypingControl design starts with creating a control model in the

integrated design environment MATLAB/Simulink/Statefl ow.

Before production code generation with TargetLink, you can

use dSPACE prototyping systems to carry out convenient

function prototyping and validation of your new ECU control

algorithms. When the functionality of an existing production

ECU needs to be extended, it is possible to effi ciently merge

function prototyping and production software development

with the dSPACE on-target bypassing tool chain (p. 20,

p. 34), which also includes TargetLink.

Using the TargetLink Block LibraryTo implement the control algorithms in C code, TargetLink

provides a dedicated block library. TargetLink blocks contain

additional data for code generation, such as the scaling in-

formation for fi xed-point variables, variable classes, variable

names, etc. A utility automatically replaces the Simulink

controller model with blocks from the TargetLink block li-

brary. The process is reversible without any data losses. If

you use the free TargetLink Blockset (stand-alone) (p. 18)

during control design, conversion is not necessary.

Simulink model with control algorithm.

TargetLink model (above) with TargetLink blocks to select the simulation mode and relevant production code options which can

be specifi ed directly in the TargetLink block dialogs (below).

Model-in-the-Loop Simulation on Host PC

To verify the implemented control algorithms, TargetLink

provides different simulation modes (p. 22). The model-in-

the-loop simulation (fl oating-point) serves as a reference for

subsequent steps and provides the minimum and maximum

values for variables as a basis for subsequent fi xed-point

scaling if required.

Simulation results in a plot overview.

TargetLink

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Automatic or Manual Scaling If you want to generate fi xed-point code, the scaling has to

be specifi ed. You can use manual scaling, simulation-based

autoscaling or worst-case autoscaling. You can choose from

Code GenerationThe TargetLink Base Suite generates highly effi cient ANSI C

code for a controller model at the click of a button.

TargetLink Main Dialog andan example of generated code.

Verifi cation on Host PC via Software-in-the-Loop SimulationBy means of a software-in-the-loop simulation on a host PC,

you can compare the behavior of the generated code with

the reference data obtained in a model-in-the-loop simula-

tion. TargetLink offers a graphical user interface, where you

can select the signal histories of blocks for detailed analysis.

Results from MIL and SIL simulation.

a broad range of scaling options (p. 13-14) for each indivi-

dual TargetLink block.

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Verifi cation on Target Processor via Processor-in-the-Loop SimulationUsing the optional Target Simulation Module (p. 6), you can

execute a processor-in-the-loop simulation to verify the gene-

rated code on an evaluation board equipped with the same

target processor as the fi nal ECU. Successful verifi cation of

a processor-in-the-loop simulation with a model-in-the-loop

Results from PIL simulation (left) and code summary (right).

Data Management The fi le-based TargetLink Data Dictionary (p. 18), which is

included in the TargetLink Base Suite, is a great help for

defi ning and handling project-related code specifi cs.

TargetLink Data Dictionary The data management software SYNECT.

simulation and a software-in-the-loop simulation ensures

the software quality of the generated code. TargetLink also

provides information on the code size, the required RAM/

ROM, and the stack consumption as it evolves over time.

The execution time can be displayed as well.

You can extend this toolset with SYNECT (p. 30), the com-

prehensive, client-server-based central data management

software with included control over variants and versions.

TargetLink

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Excellent Code PropertiesHighly Effi cient Production Code

Fixed-Point and Floating-Point CodeRegardless of the application type (fi xed-point or fl oating-

point), TargetLink generates highly effi cient production code

for your embedded system. Multiple scaling properties give

ample choices to fi ne-tune fi xed-point code to the confl icting

requirements of low execution time, high computational

precision, and overfl ow avoidance. If an overfl ow occurs,

TargetLink’s overfl ow detection shows the exact location in

the block diagram. The problem can be corrected right away.

Plot overview window (left) indicating an overfl ow of an outport block.

To shorten the time-consuming and error-prone manual

scaling process, TargetLink provides an Autoscaling Tool.

It supports you in fi nding suitable ranges and calculating

Dialogs to carry out automatic scaling.

appropriate scaling parameters. A scaling task that took

days and weeks in the past can now be done in minutes

and hours.

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Scaling Variables – A Closer LookAs a scaling method, TargetLink offers the two-coeffi cient

linear scaling, which is widely used in embedded control

applications. The properties for specifying fi xed-point scalings

in TargetLink are:

�n Data type

�n Power-of-two scaling factor or arbitrary scaling factor

�n Offset value

�n Constraint values

�n Bit safety margins

�n Saturation options

While fi xed-point scaling can be done manually by a soft-

ware engineer, in most instances it is left to TargetLink’s

autoscaling tools.

Two autoscaling procedures are available:

�n Simulation-based autoscaling – benefi t from maximum

computational precision

�n Worst-case autoscaling – no plant model required and

overfl ows automatically prevented

Moreover, TargetLink also supports scaling with scaling for-

mulas and type defi nitions.

Highly Confi gurable CodeTargetLink code is easily readable and includes helpful com-

ments. Comprehensive confi guration options give you full

control over variables, functions, and fi le naming, as well as

the fl exibility to partition the code into functions and fi les

to keep the structure logical and manageable.

Variable class specifi cationfor a Gain block.

For the integration of external code, TargetLink offers a wide

variety of specifi cation options, e.g., on the block diagram

level for easily interfacing with external code, such as device

drivers, or with any other routine written in C or assembler.

Company-specifi c programming style guides can be easily

applied via TargetLink´s fl exible code output formatting,

e.g., by using XML confi guration fi les or XSL style sheets.

TargetLink

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Powerful Code OptimizationTargetLink generates highly optimized ANSI C code that

is just as efficient as optimized handwritten code. This is

achieved by various optimization techniques, such as stan-

Resource ConsumptionTargetLink

code

ROM RAM Execution time

100%Handwritten code

Source: European Automotive Tier 1 Internal Study

Source: Evaluation of Automatic Code Generation Tools,Department of Automatic Control, Lund University

TargetLink’s interblock optimization gives the generated

code a human touch, because it combines code in a very

similar way to what a skilled software engineer would do.

Example of interblock optimization.

For more complex blocks, TargetLink uses code from an

internal code pattern library during the code generation

process, ensuring that the code for complex blocks is also

highly efficient.

dard optimization techniques that are also used by modern

C compilers.

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Control and Software DesignDesigning Controller Models Directly with TargetLink

TargetLink Block Library: Extended, Implementation-Specifi c FunctionalityThe Simulink® block library is very powerful in simulation

tasks, providing all necessary specifi cation features. When

it comes to code generation, however, more information

is needed for each block. For example, the blocks need

additional capabilities for fi xed-point simulation. That is

why TargetLink comes with the TargetLink Block Library

which offers a block for each supported Simulink block.

The TargetLink blocks signifi cantly enhance the functionality

of the supported Simulink blocks and have an extended

dialog that allows you to enter the implementation-specifi c

information necessary for code generation. Each block also

provides a means of data logging and overfl ow detection. A

special routine automatically prepares Simulink models for

code generation with TargetLink by enhancing the Simulink

blocks to TargetLink blocks.

The TargetLink Block Library

TargetLink block dialog for entering implementation-specifi c information such as the data type, variable name, scaling data, etc..

The comprehensive features of the TargetLink Block Library

include:

�n Supported Simulink blocks – several Simulink blocks

can be used in a TargetLink subsystem as they are.

Options include, for example, blocks for combining data

sets to matrices and for specifying matrix signals in

your model.

�n Statefl ow® support – TargetLink fully supports the Math-

Works Statefl ow toolbox.

�n TargetLink Utility blocks – these provide access to spe-

cifi c features of TargetLink or further specify the code

generation process for the model.

�n TargetLink Simulation blocks – they mostly corres-

pond to the standard Simulink blocks but include

additional features necessary for production code

development.

�n RTOS blocks – they can be used for implementing

real-time operating systems (RTOS). There are even

OSEK-specifi c blocks like the CounterAlarm.

�n AUTOSAR blocks (separate module) – model-based

design for AUTOSAR ECUs (p. 26) is supported by

blocks for structural elements such as runnables, ports,

and certain communication elements.

TargetLink

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The TargetLink AUTOSAR Block Library.

If you need to change the properties of a large model,

TargetLink’s Property Manager is a quicker alternative to

manually changing the properties in the block dialogs. It

displays the properties of TargetLink blocks and Statefl ow

objects in the model, and lets you view, fi lter, and modify

several properties simultaneously.

The Property Manager for handling models with numerous blocks. It has been completely revised with TargetLink 4.3.

Property ManagerKey Features:

�n Intuitive graphical user interface (GUI)

�n Quick access views

�n Effi cient fi lters

�n Integrated validation and error visualization

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TargetLink Blockset (stand-alone)The TargetLink Blockset (stand-alone) is a license-free version

of the TargetLink blockset which allows function developers

to design their controller models directly with TargetLink. It

can be used on any computer that has MATLAB/Simulink

installed. With the TargetLink Blockset (stand-alone), Target-

Link models can be exchanged freely without the need for

extra TargetLink licenses. Its features include:

�n Free TargetLink model exchange in workgroups

�n Controller design and simulation in Simulink

�n Prototyping with MathWorks® Simulink Coder™

You can use the free TargetLink Blockset (stand-alone) to

design and prototype your controller without a full Target-

Link installation. The TargetLink blocks can be used for rapid

control prototyping on dSPACE hardware. The TargetLink

Blockset (stand-alone) allows you to use the same models for

rapid control prototyping and production code generation.

Development iterations are thus easier to perform and less

prone to error.

If you use On-Target Bypassing, you can benefi t from Tar-

getLink’s highly effi cient production code as early as the

prototyping phase. For more information, please see p. 20.

1 1

Software Development

same model

Function Development

Simulink Coder™

pictrl

in

TargetLink

pictrl plant model

in

plant model

=

MicroAutoBox Real-time hardware ECU

Function development (including rapid control prototyping) with the TargetLink Blockset (stand-alone) and software development with a full TargetLink installation.

Software Design with the TargetLink Data DictionaryThe fi le-based TargetLink Data Dictionary is a central data

container holding the relevant information for a model’s

design, code generation, and implementation on an ECU.

Data dictionary objects can be referenced from TargetLink

models. You can defi ne and manage variables and their

properties, and you can specify structured data types and

use them for variable declarations. Scaling formulas can

be entered and used to uniformly scale fi xed-point signals

and parameters in the model. You can import and export

standardized or proprietary data and share the data with

the calibration system. To specify the properties of the code to be generated, Data Dictionary objects are referenced from block diagrams of the model, in this case for a specifi c variable.

TargetLink

19


2018

The TargetLink Data Dictionary is perfect for defi ning and

handling project-related code specifi cs, even for workgroups.

It provides access to additional information such as speci-

fi cs on C modules, function calls, tasks, variable classes,

data variants and so forth. The data is presented in a well-

organized tree and can also be accessed via an application

programming interface (API). The Data Dictionary also sup-

ports common import and export formats, so that existing

and proven defi nitions, for example, a calibration fi le, can

be used as templates.

ASAM-MCD 2MC

XML

AUTOSAR SWCdescriptions

.....

OILData

Dictionary

API

Data Dictionary Manager

Model X

Subsystem A Subsystem B Subsystem C Subsystem D

Model Y Model Z

With the TargetLink Data Dictionary, the data and the model are kept separate.

TargetLink users can extend the TargetLink Data Dictionary

with dSPACE SYNECT (p. 30), the comprehensive, client-

server-based central data management software with in-

cluded control over variants and versions.

Further features extend the functionalities of the TargetLink

Data Dictionary:

�n The Data Dictionary Manager provides the user inter-

face to the Data Dictionary for convenient administration

of the data. Elements such as type defi nitions, vari-

ables, and scaling formulas are organized clearly. Typi-

cal user interface functions are available, like copying

and pasting objects, loading and saving individual data

branches, and searching the entire dictionary. The

tool can be customized by using the M-script plugin

mechanism for menus, context menus, and properties.

Additional panes can be used for outputs generated

from user scripts.

�n Various import/export formats are supported, including

variables and Simulink data objects from/to MATLAB

workspace and fi les, XML (Extensible Markup Language),

ASAM MCD-2 MC (Standardized Description Data, for-

merly ASAP2), AUTOSAR software component descrip-

tions, and OIL (OSEK Implementation Language).

�n The TargetLink Data Dictionary MATLAB API gives you

full access to the TargetLink Data Dictionary via MATLAB.

Open API interfaces make it easy to integrate the Target-

Link Data Dictionary into your company’s environment.

20


2018

Modular Development and Code GenerationTargetLink lets you easily handle large models and software

integration with dedicated mechanisms.

Mechanism Description

Incremental code generation Incremental code generation is available for Simulink subsystems which contain a TargetLink function block. Each member of a development team can work on a subsystem individually and just generate code for that. This way, code for individual subsystems in a model can be tested, reviewed, and frozen while development in other subsystems continues. TargetLink performs the necessary consistency checks when building the overall application from all the parts. The overall code generation time can be signifi cantly reduced by generating code only for subsystems that have been modifi ed.

Model referencing support TargetLink supports model referencing. Functionalities can be fl exibly partitioned into several model fi les, versioned separately, and developed on a modular basis. Parts of models can besimulated separately and implemented individually by means of incremental code generation.

Simplifi ed software integration TargetLink code from separate (incrementally generated) subsystems and (referenced) models can be easily integrated and tested by means of code generation from the Data Dictionary. Variables with global relevance that are shared by separate models and subsystems are spe-cifi ed and generated from the Data Dictionary.

Code generation straight from the TargetLink Data Dictionary

The Data Dictionary supports the generation of both code and A2L fi les for Data Dictionary variables independently of their use in TargetLink models. Variables with global relevance that are shared between different models, subsystems and referenced models should be specifi ed in the Data Dictionary and implemented from there. Generating code fi les with defi nitions and declarations, and also A2L fi les for variables from the Data Dictionary, makes software integration and software integration testing easy. Moreover, all the calibration parameters for an entire ECU project can be created in one fi le.

Diff&Merge mechanisms via TargetLink Data Dictionary

The TargetLink Data Dictionary has the mechanisms needed to compare different versions and display changes, e.g., old/new. You can then trace modifi cations back to the model to analyze their effects on it. Diff&Merge mechanisms let you update interface defi nitions simultaneously to ensure consistency when changes are made.

Coupling with SYNECT Model-based development in large, distributed groups is particularly effi cient if you combine TargetLink with dSPACE’s data management software SYNECT, see p. 30.

On-Target BypassingIf a real electronic control unit (ECU) exists and you only want

to extend its functionality, it is useful to perform function

development right on the ECU. The prerequisites are suffi ci-

ent I/O and enough free resources. If these prerequisites are

met, it makes sense to use TargetLink as the code generator

for on-target bypassing to use the free capacities of the ECU

as effi ciently as possible.

ECUECU

New controlstrategy

Existing control strategies

YX

Bypass model

Y=f(x)’

f(x)fn fm

Prototyping directly on the ECU.

TargetLink

21


2018

TargetLink supports the dSPACE RTI Bypass Blockset (part

of the ECU Interface Base Package), making it possible to

develop and validate new functions right on the existing

production ECU. The handling of the RTI Bypass Blockset

is the same as always, which gives you the familiar conve-

nience of using dSPACE RCP systems. At the same time,

using TargetLink gives you the fl exibility and effi ciency of

a production code generator. The results on program size

and run-time behavior of the generated production code

accelerate development and reduce project risks during

series production.

Preparing the ECU Code

ECU Interface Manager

ECU

RTI Bypass BlocksetTargetLink

Developing New Functions

Original ECUcode (HEX,A2L, config.)

ECU code withnew function

Optimization

ECU

Prepared ECU code(bypassing service and

service calls)

dSPACE Internal Bypassing ServiceBypassing Service

In combination with the RTI Bypass Blockset (part of the ECU Interface Base Package), TargetLink implements new ECU functions in the ECU code, which was prepared with the ECU Interface Manager (part of the ECU Interface Base Package).

On-target bypassing with TargetLink opens up all degrees

of freedom on the path from functions development to

series production.

Most development projects start out with a Simulink model.

In this case, TargetLink is used only as the code generator

and provides modern optimization options to effi ciently use

the existing resources on the production ECU that is used

for function development. If you already use the TargetLink

blockset for modeling, you can also reuse the model from

the development phase in series production without any

modifi cations at all. The specifi cations needed for produc-

tion code generation are then added to the existing model

in the software development phase. This means function

developers no longer have to deal with the details of imple-

mentation. You can reach maximum production maturity

by using a completely specifi ed TargetLink model also for

prototyping. This is especially useful for iterative improve-

ments of functions developed with TargetLink. In this case,

the model of the improved function can be used immediately

in software development, and only minor additions, e.g.,

for specifying software interfaces, are necessary.

22


2018

Built-in Verification and Validation SupportTesting at Various Test Levels

Three Simulation Modes for TestingAlthough code generators produce virtually fl awless results,

when compared to manual programming, the generated

code still needs to be tested as well as the underlying spe-

cifi cation. TargetLink provides powerful and easy-to-use

means to verify the generated code. The code tests are

performed in the same simulation environment that was

used to specify the underlying simulation model. Functio-

nal identity has been achieved when the simulation results

match. TargetLink provides a three-step verifi cation process

which shows at the click of a button whether the specifi ca-

tion (the model) and implementation (the generated code)

are functionally identical. On the basis of a controller model,

TargetLink performs simulations of the model (model-in-

the-loop simulation, MIL), the generated code on the host

(software-in-the-loop simulation, SIL), and the generated

code on the target (processor-in-the-loop simulation, PIL),

without additional model modifi cations or preparations.

TargetLink performs the three different simulation modes without any changes to the model or the generated code. TargetLink does this automatically in the background.

Evaluationboard

C code on host PC C code on target processorController model

Plant model or stimulus signals Plant model or stimulus signals Plant model or stimulus signals

Model-in-the-Loop Software-in-the-Loop Processor-in-the-Loop

Simulation Mode How It Works

Model-in-the-loop simulation �n Data is recorded for reference plots from the simulation model. Signals from selected blocks and state variables are automatically logged by TargetLink. �n The model-in-the-loop simulation captures the specifi ed behavior of the model that is to be implemented in C code later on. The recorded signal plots act as the reference for the next verifi cation steps.�n Model-in-the-loop simulation can also be used for detecting overfl ows of integer variables, and its results are used for simulation-based autoscaling.

Software-in-the-loop simulation �n The code is generated and replaces the controller blocks in the simulation model (for example, the same plant and stimulus signals). TargetLink does this automatically in the background. �n You still see the controller blocks, though it is the code that is executed on the host PC instead. The signal plots should be largely identical when compared to the results of model-in-the-loop simulation. If they are not, they can be analyzed to get a better understanding of the cause of the deviation and to fi ne-tune the fi xed-point settings.

Processor-in-the-loop simulation �n The generated code runs on an embedded processor, but because code that runs correctly on the host PC can still cause trouble, it has to be inspected further.�n An off-the-shelf evaluation board is connected to the host PC, and the generated code is compiled with the target compiler and downloaded to the evaluation board. �n TargetLink manages the communication between the host PC and the evaluation board. All these activities are automated and need no user interaction. Simulation on an evaluation board just takes two mouse clicks.

TargetLink

23


2018

Features and Benefi ts of the Simulation Concept

Feature Description Benefi t

MIL/SIL/PIL simulation at the click of a button

Switching from MIL to SIL or PIL simulation requires just one click

�n Powerful simulation environment�n No need for separate test models, generation of S-functions or manual insertions into test harness models

Integrated data logging Built-in data logging and result plotting for all simulationmodes

�n No model modifi cations necessary�n Available for all simulation modes

Direct comparison of MIL/SIL/PIL results

Automatical plotting of all simulation results in the sameplot window

�n Display results of simulations in different modes directly and analyze deviations�n Direct feedback whether code matches model simulation

Detailed signal analysis and deviation plots

Zoom signals to visually inspect deviations, displayconstraints (e.g., defi ned ranges), use cursor to scrollthrough signal histories, display signal values numericallyor plot signal deviation

�n Get a clear picture of the signal behavior�n Especially useful for conversion from fl oating-point to fi xed-point

Integrated Data Logging and PlottingBuilt-in TargetLink blocks come with an integrated data

logging functionality. In the block dialogs, you can specify

whether to log the block output signals. No changes to the

model are necessary. The data logging is available for all

simulation modes without further user interventions.

The TargetLink block dialog lets you specify whether to log signalhistories – regardless of the simulation mode.

24


2018

Run-Time Analysis for Profi ling the CodeProcessor-in-the-loop (PIL) simulation can also be used to

profi le the generated code. During PIL simulation, TargetLink

automatically measures execution time and stack consump-

tion directly on the target processor. A code summary lists

RAM and ROM usage for each function. These features

allow you to evaluate design alternatives, such as selecting

different search routines of a look-up table block. You can

immediately measure the impact of the change on code ef-

fi ciency. Sound implementation decisions based on accurate

benchmarks become a matter of a few clicks.

The results of code profi ling: execution time measurement, stack size measurement, and code summary of generated code.

Code Coverage AnalysisYou can assess how comprehensive tests are by using code

coverage analysis. TargetLink offers C0 and C1 coverage ana-

lysis, also called statement coverage and decision coverage.

During simulation on host or target systems, counters record

the frequency of execution for each branch of code. After

simulation, a code coverage analysis report is generated with

a coverage overview table and a detailed, annotated code

listing with the execution count for each block. This report

tells you immediately whether the tests cover everything.

Code branches that have never been executed are easily

identifi ed, and test strategies can be adjusted accordingly.

Thus, coverage analysis increases software quality.

Code Coverage Total Branches Reached Branches Unreached Branches

Fuel system 61.87% 139 86 53

Fuel rate controller 58.91% 129 76 53

Fuel rate calculator 56.56% 122 69 53

Correction redundancy 100% 7 7 0

Airfl ow controller 100% 10 10 0

Airfl ow calculation 100% 9 9 0

Airfl ow subsystem 100% 1 1 0

Example of the information provided by code coverage.

TargetLink

25


2018

Annotated code listing with execution count for each code block.

Model-Code TraceabilityFor improved traceability and simplifi ed code reviews, code

fi les can optionally be generated in HTML format, with hy-

Traceability between model and code.

perlinks for navigation from model to code and vice versa.

26


2018

High-Performance, Native AUTOSAR SupportAUTOSAR-Compliant Production Code

Designing AUTOSAR Software Components (SWCs)The optional TargetLink AUTOSAR Module makes TargetLink’s

modeling, simulation, and code generation features availa-

ble for designing AUTOSAR software components (SWCs).

Developers can use the TargetLink AUTOSAR Block Library

to easily specify AUTOSAR structure elements, such as run-

nables, ports, and communication interfaces at model level.

The TargetLink AUTOSARBlock Library

To defi ne an AUTOSAR runnable, the Function/Runnable

block is applied to a modeled subsystem just as for normal

TargetLink functions. To defi ne how data is exchanged bet-

ween the runnables of one or more SWCs, TargetLink Inports

and Outports are used just as in non-AUTOSAR applications.

TargetLink supports a vast majority of all AUTOSAR com-

munication mechanisms. Property specifi cations are made

both on block level and via the TargetLink Data Dictionary.

The same model can be used to generate both AUTOSAR-

compliant code and standard TargetLink code.

Modeling AUTOSAR SWCs.

Referencing AUTOSAR objects specifi ed in the Data Dictionary from dedicated block dialogs.

TargetLink

27


2018

The TargetLink AUTOSAR Block Library

Generating AUTOSAR-Compliant CodeTargetLink generates production code for AUTOSAR software

components and provides all the code generation options

for optimization. Modeled runnables are implemented as

C functions, and AUTOSAR communication mechanisms

specified in TargetLink Inports/Outports are implemented

as run-time environment (RTE) macros according to the

AUTOSAR standard.

The generated C code for a runnable with three included RTE macro calls.

Simulating and Testing AUTOSAR SWCsWith TargetLink, SWCs can be simulated in all three simu-

lation modes:

�n Model-in-the-loop (MIL)

�n Software-in-the-loop (SIL)

�n Processor-in-the-loop (PIL)

Feature/Utility Description Benefits

Importing and exporting SWC descriptions

�n Creating component descriptions and exporting them in AUTOSAR XML format�n Importing and merging existing component descriptions from the TargetLink Data Dictionary

�n Seamless AUTOSAR development process with a tool like SystemDesk

AUTOSAR frame model generation

�n Generating a frame model containing the relevant AUTOSAR ports and runnables�n The developer can insert the control algorithm into the model frame to obtain a complete AUTOSAR software component

�n Easy migration of existing models to AUTOSAR �n Easy modeling from scratch

Migrating standard TargetLink models to AUTOSAR

�n TargetLink AUTOSAR Migration Tool for automatically converting individual subsystems to AUTOSAR runnables �n Supporting the flexible specification of AUTOSAR properties

�n Highest flexibility when re-using existing software parts

Helpful Features and Utilities (Examples)

Multiple SWCs can be simulated in one simulation run.

Communication between SWCs is simulated to the extent

supported by the Simulink design environment.

TargetLink in an AUTOSAR Tool ChainFor AUTOSAR software development, TargetLink is typical-

ly combined with an AUTOSAR architecture tool such as

SystemDesk. A software architecture with multiple compo-

nents is specified in the architecture tool, while TargetLink is

used to “fill“ and implement the individual SWCs. The two

tools exchange data on the basis of AUTOSAR XML files.

A topdown approach (starting with the software architec-

ture) and a bottom-up approach (starting with a TargetLink

function model) can both be used for AUTOSAR round trips.

28


2018

Automation, Process and Tool IntegrationEasy Integration into your Tool Chain

Comprehensive TargetLink APITargetLink can be easily integrated into existing development

environments, because it comes with a comprehensive and

fully documented application programming interface (API).

This grants full access to all TargetLink properties and settings

Calibration File GenerationAnother important requirement for a code generator is to

have close links with calibration systems. ECU code must be

prepared for parameter fi ne-tuning by making calibratable

or measurable variables accessible to a calibration system.

TargetLink supports the generation of the standardized

ASAM MCD-2 MC fi le format (formerly ASAP2) via the Data

Dictionary to make the variables and parameters available

for ECU calibration. All major calibration tools support this

and allows for processes to be automated while at the same

time providing options for interventions in the individual

process phases. For example, hook functions allow for user

tasks to be performed at all stages of the build process.

standard. Because the C code and the ASAM MCD-2 MC

fi le are generated with the same data basis, they are always

consistent. This eliminates another error source, and stream-

lines the development process. TargetLink offers several

predefi ned variable classes for calibratable and measurable

variables. You can also specify your own classes, ensuring

that each class holds suitable attributes for calibration and/

or measurement.

controller(vod){ ...}

/include module

/beginn MODULE /begin CHARACTERISTIC ... /begin MESUREMENT ... /begin RECORD_LAYOUT ...

TargetLink

ECU ASAM MCD-2 MC Project File

TargetLinkASAM MCD-2 MC file

ExternalASAM MCD-2 MC files

*.C

*.a2l *.a2l

Code files

CalibrationSystem

ASAM MCD-2 MC fi le generation for calibration purposes.

TargetLink

29


2018

Documentation Generated AutomaticallyTargetLink not only generates code, it also documents what

it does – keeping perfect consistency with the model and

the code. An automatically generated document provides

information about function interfaces and global variables,

and a list of all measurable and adjustable variables, sca-

ling parameters, code generator options and much more.

Screenshots of models, subsystems, and simulation plots can

also be included. Links to the generated C code are provided.

You can specify the documentation you require, for example,

the level of detail. Documentation can be generated in the

HTML, RTF (for word processing) and PDF formats.

Production code documentation in HTML. The documentation is easy to generate – at the click of a button.

30


2018

Software architecture

Requirement specification

Software unit designand implementation

Requirement verification

Software integrationand testing

Software unit testing

DataBackbone

Efficient modular and distributed development with TargetLink and SYNECT.

TargetLink Connection to SYNECTWhile the file-based TargetLink Data Dictionary is a great

help for defining and handling project-related code

specifics, TargetLink users can extend this toolset with

SYNECT, dSPACE´s comprehensive, client-server-based central

data management software with included control over vari-

ants and versions. Therefore, a SYNECT Add-On for Target-

Link is freely available and connects both tools. During all de-

velopment phases, the SYNECT Add-On for TargetLink helps

TargetLink users benefit from SYNECT, improve the efficiency

of the workflow, and reduce formerly error-prone data ex-

changes caused by different tools with the aid of central and

consistent data management. The SYNECT Add-On for Tar-

getLink ensures a consistent data exchange between SYNECT,

the TargetLink model, and the TargetLink Data Dictionary.

Main benefits for TargetLink users:

�n All relevant data in one central place

�n Consistent data exchange between SYNECT, TargetLink

model, and the TargetLink Data Dictionary

�n Full traceability between requirements, models, para-

meters, test cases, and generated code files

TargetLink

31


2018

TargetLink and SystemDeskTargetLink and SystemDesk are the ideal combination for

developing AUTOSAR-compliant software. The two tools

exchange SWC containers that hold not only ARXML files,

but also source files for implementation, A2L files, and other

helpful meta information. This is a reliable, transparent way

to perform AUTOSAR round trips with minimum user in-

tervention. In addition, TargetLink users have convenient,

direct access to SystemDesk’s virtual ECU (V-ECU) generation

(p. 32), and VEOS’ simulation capabilities for evaluating and

testing the behavior of TargetLink components as parts of

complex systems in early development stages with constant

interfaces during the different development stages.

Main benefits for TargetLink users:

�n Safe and convenient data exchange based on SWC

containers

�n Fast and reliable AUTOSAR roundtrips with minimum

user intervention

�n Convenient V-ECU generation for testing SWCs with

VEOS in early development stages

Developing AUTOSAR software with SystemDesk and TargetLink based on the exchange of SWC containers.

SystemDesk TargetLink

SWC Container Export SWC Container Import

SWC Container Import SWC Container Export

ContainerManager

.arxml

.c .h

...

.a2l.doc

SWC Container

.arxml

...

.doc

SWC Container

32


2018

TargetLink Connection to VEOSTargetLink code can run not only in SIL/PIL simulations in

the Simulink environment, but also on dSPACE’s PC-based

simulator VEOS (fi gure below). This is done by wrapping

code in an executable unit called a virtual ECU (V-ECU),

which is generated from TargetLink models. TargetLink

code can then be executed along with other V-ECUs as

well as plant models on VEOS. To capture signals and ad-

just or test parameters, A2L fi les exported from Target-

Link are used with dSPACE ControlDesk, which provides

access to VEOS. Thus, the standard dSPACE tools used

for real-time simulation are also used for offl ine simulati-

on and experimentation with TargetLink-generated code.

This provides the following benefi ts for TargetLink users:

�n Early simulation of TargetLink code in large systems

consisting of multiple virtual ECUs and plant models,

including buses if required

�n Convenient experimentation and testing with ControlDesk

and other dSPACE tools

The approach shown in the fi gure below is intended for

TargetLink users who do not work on AUTOSAR projects. For

AUTOSAR projects, it is recommended to exchange AUTOSAR

software components between SystemDesk and TargetLink,

and generate the V-ECU from SystemDesk (p. 31).

Connection of TargetLink to VEOS for non-AUTOSAR users.

Plant Model

Virtual ECU wrapscode generated

from a TargetLinksubsystem

V-ECU build

V-ECU

TargetLink Model

ControlDesk

AutomationDesk

VEOS

Plant Model

TargetLink

33


2018

TargetLink FMI SupportFunctional Mockup-Units (FMUs) based on the FMI 2.0 for Co-

Simulation standard can be exported directly from Simulink/

TargetLink models. These FMUs encapsulate the TargetLink-

generated production code and can therefore be integrated

and simulated in all environments that suitably support the

Functional Mockup Interface (FMI) standard. This can be done

for real-time and non-real-time simulation platforms. As a re-

sult, software developers can create production code software

in a familiar development environment and then import and

reuse it in different environments without any manual effort.

Main benefi ts for TargetLink users:

�n Model exchange between different environments and

domains

�n Running TargetLink code easily in third-party simulation

environments along with plant models

�n Integration of TargetLink into the dSPACE virtual valida-

tion tool chain

Code generation

Functional Mock-upUnits

XML

C Code

FMU

Libs

Third-party real-time/non-real-time

simulation environment

TargetLink SCALEXIO

VEOS

Exporting Functional Mockup-Units (FMUs) from TargetLink to simulation environments that support FMI.

34


2018

TargetLink and ECU Interface SoftwareFor On-Target Bypassing, i.e., performing function prototy-

ping for functionality extensions directly on an existing ECU,

TargetLink can be combined with dSPACE’s ECU Interface

Software. For more information, please see p. 20.

�n The existing production ECU can be conveniently used

as prototyping hardware.

�n ECU resource consumption is kept under control.

�n A seamless transition to production development is

possible.

�n The tool chain can save complex integration loops that

involve the ECU supplier.

Preparing the ECU Code

ECU Interface Manager

ECU

RTI Bypass BlocksetTargetLink

Developing New Functions

Original ECUcode (HEX,A2L, config.)

ECU code withnew function

Optimization

ECU

Prepared ECU code(bypassing service and

service calls)

dSPACE Internal Bypassing ServiceBypassing Service

In combination with the dSPACE RTI Bypass Blockset (part of the ECU Interface Base Package), TargetLink implements new ECU functions in the ECU code, which was prepared with the ECU Interface Manager (part of the ECU Interface Base Package).

Main benefi ts for TargetLink users:

TargetLink

35


2018

Software Quality and Supported StandardsCommitted to Highest Quality

TargetLink Certified for ISO 26262, ISO 25119, and IEC 61508TargetLink is certified by TÜV SÜD (German international

certification association) for use in the development of

safety-related systems. TÜV confirmed that TargetLink is

suitable for software development according to ISO 26262,

ISO 25119, IEC 61508, and derivative standards (such as

EN 50128, which governs safety-related software on the

railways). The certification was based on a number of areas:

�n Software development process and software modifica-

tion process of TargetLink

�n Problem handling procedures

�n Fitness for purpose in safety-related development

according to ISO 26262, ISO 25119, and IEC 61508

TÜV SÜD also approved a reference workflow providing gui-

dance for the model-based development of safety-related

software with TargetLink. IEC 61508 is the internationally

recognized generic standard for the development of safety-

related electronic systems. ISO 26262 is the international

automotive standard for the development of safety-related

systems in road vehicles. ISO 25119 is the international stan-

dard for the development of safety-related parts of control

systems in tractors and machinery for agriculture and forestry.

Both standards are derived from IEC 61508.

ISO/IEC 15504-Compliant Development ProcessISO/IEC 15504 (also known as SPICE1)) is an international

standard for software processes. Its underlying concept is

that a mature software product requires a mature develop-

1) SPICE: Software Process Improvement and Capability Determination

Internal Software Quality ManagementAn internal quality department, the dSPACE quality man-

agement team, proactively manages software quality at

dSPACE. The team leads software improvement activities,

sets internal standards, conducts internal assessments, and

ment process. dSPACE has dedicated itself to an ISO/IEC

15504-compliant development process.

provides consultation services to all software groups. It acts

independently and ensures that the highest product quality

goals are consistently achieved and sustained.

36


2018

AUTOSARAs a de-facto standard for automotive E/E architectures,

AUTOSAR contains specifications for communication in-

terfaces between application functions and basic system

functions. The TargetLink AUTOSAR Module makes Target-

Link’s modeling, simulation and code generation features

available for designing AUTOSAR software components

(SWCs), see also p. 26.

FMIThe Functional Mock-up Interface (FMI) is an open standard

for the tool-independent exchange and integration of plant

models that are provided by various tool vendors. Functional

Mockup Units (FMUs) can be exported from TargetLink to

simulation environments that support FMI, see also p. 33.

ASAM MCD-2 MC (ASAP2)Internal ECU variables in measurement and calibration can

be defined in the description format ASAM MCD-2 MC.

Because a code generator also needs to have close links with

calibration systems, TargetLink can export calibration data

as ASAM-MCD 2MC file for calibration tools, see also p. 28.

MISRA CThe British MISRA1) C standard is a widely accepted C subset

for projects in the automotive industry. Its aim is to define

rules for avoiding common software errors that can occur

when software engineers write software by hand. Most of

these rules also make sense for machine-generated code.

TargetLink-generated code complies with the vast majority

of MISRA C rules. If deviations from the MISRA C stan-

dard are a technical necessity, they are identified and well

documented. dSPACE provides detailed documentation

about TargetLink’s MISRA C compliance to all TargetLink

customers on request. For more information, please contact

[email protected]

1) MISRA: Motor Industry Software Reliability Association (www.misra.org.uk)

TargetLink

37


2018

Facts About TargetLink and DO-178C/DO-331 in Brief�n Simulink/TargetLink models for specifying high-level

requirements

�n TargetLink design models for specifying low-level

requirements

�n Generation of high-quality, easy-to-read, and traceable

source code from TargetLink models

�n Comprehensive simulation support for models and

code according to the established MIL/SIL/PIL verifica-

tion concept

�n Powerful tool chain with tools from BTC Embedded

Systems for requirements specification, automatic test

vector generation, requirements verification and formal

verification via model checking

DO-178C/DO-331With the DO-178C as a highly relevant standard for the

development of software in aviation, model-based design

and automatic code generation has a solid base for use in

the aerospace sector. The document DO-331, Model-Based

Development and Verification Supplement to DO-178C and

DO-278A, which is also part of the standard, was written

specifically for this. dSPACE takes this into account by pro-

viding a workflow document that explains how to use Tar-

getLink in a model-based tool chain for DO-178C-compliant

projects. The workflow document describes how to meet

the individual requirements or objectives of DO-178C/DO-

331. It focuses not only on TargetLink itself but also on a

complete model-based tool chain that can contain further

third-party tools, for example, from TargetLink cooperation

partners such as BTC Embedded Systems, AbsInt, and Model

Engineering Solutions. The workflow document is thus an

important contribution towards simplifying the certifica-

tion of TargetLink-generated code in DO-178C-compliant

applications, addressing all criticality levels up to Level A.

To receive the approximately 60-page document, please

contact [email protected]

38


2018

TargetLink EcosystemIn combination with TargetLink, several dSPACE tools and

numerous third-party tools facilitate high-quality model-

based software development. Together, these tools form the

TargetLink Ecosystem. For each development phase, a broad

range of powerful tools is available, which can be smoothly

integrated with TargetLink. Therefore TargetLink users are

able to build-up their own highly efficient tool chains for

their individual scenarios, also meeting the high requirements

of current safety standards such as ISO 26262 or DO-178C.

Category Product Company

Requirements handling and tracing �n TargetLink in combination with SYNECT or Simulink Verification and ValidationTM, and�n IBM® Rational® DOORS®,�n PTC™ Integrity,�n BTC EmbeddedSpecifier® or�n Microsoft® Excel®

�n www.dspace.com�n www.mathworks.com�n www.ibm.com�n www.ptc.com�n www.btc-es.de�n www.microsoft.com

Architecture design �n SystemDesk�n SYNECT�n DaVinci Developer�n Enterprise Architect�n IBM® Rational® Rhapsody�n EB tresos® Studio

�n www.dspace.com �n www.dspace.com�n www.vector.com�n www.sparxsystems.de�n www.ibm.com�n www.elektrobit.com

Modeling guideline checking �n MES Model Examiner® (MXAM) �n www.model-engineers.com

Model analysis and review �n MES M-XRAY® �n www.model-engineers.com

Model comparison �n Model Compare�n SimDiff�n ANSYS Medini™ Unite

�n www.dspace.com �n www.ensoft.de�n www.medini.eu/

Model coverage analysis �n BTC EmbeddedTester®

�n Simulink Verification and Validation™�n www.btc-es.de�n www.mathworks.com

Test vector generation �n BTC EmbeddedTester®

�n Reactis®

�n TPT

�n www.btc-es.de�n www.reactive-systems.com�n www.piketec.com

Model-based testing �n BTC EmbeddedTester®

�n MES Test Manager® (MTest)�n Reactis®

�n TPT

�n www.btc-es.de�n www.model-engineers.com�n www.reactive-systems.com�n www.piketec.com

Formal verifications �n BTC EmbeddedSpecifier®

�n BTC EmbeddedValidator®

�n www.btc-es.de

Coding guideline checking �n QA-C�n PC-lint

�n www.qa-systems.com�n www.gimpel.com

Code coverage analysis �n BTC EmbeddedTester®

�n Testwell CTC++�n www.btc-es.de�n www.verifysoft.de

Run-time error analysis �n Astrée�n Polyspace Code Prover™

�n www.absint.com�n www.mathworks.com

Resource usage analysis �n aiT WCET Analyzer�n StackAnalyzer�n TimingProfiler

�n www.absint.com

Requirements coverage analysis �n BTC EmbeddedTester®

�n TPT�n www.btc-es.de�n www.piketec.com

Additional MathWorks toolboxes �n Simulink Control Design™�n Simulink Coder™�n ...

�n www.mathworks.com

Up-to-Date List of Third-Party Tools�n www.dspace.com/go/tl_ecosystem

TargetLink

39


2018

Category Product Company

Data management and collaboration �� SYNECT �� www.dspace.com

Training and development platform �� MEDKit on ARM – Motor Control Education Kit �� www.emerge-engineering.de

ISO 26262 consulting services �� dSPACE Process Consulting Services�� MES ISO 26262 Consulting Services

�� www.dspace.com�� www.model-engineers.com

Continuation from p. 38:

The TargetLink Partner Program includes companies that

develop and promote products to complement and extend

TargetLink’s functionalities. The program supports customers

when they launch a model-based development process and

a tool chain around TargetLink. Together with the strategic

partners, we provide best-in-class solutions.

There are two kinds of TargetLink partners: Up-to-Date List of TargetLink Partners:�� www.dspace.com/go/tlpartnerprogram

TargetLink Partner Program

TargetLink PartnerThis kind of partnership offers a company or an organization

the possibility to cooperate closely with a market leader in

embedded software development.

TargetLink Strategic PartnerA TargetLink Strategic Partner is a company or organization

that develops and promotes a complementary product which

supports TargetLink in a manner that goes above and beyond

the normal support for comparable tools.

TargetLink Strategic Partners

BTC Embedded Systems AG www.btc-es.de

Model Engineering Solutions GmbH www.model-engineers.com

TargetLink Partners

AbsInt Angewandte Informatik GmbH www.absint.com

Emerge Engineering GmbH www.emerge-engineering.de

PikeTec GmbH www.piketec.com

Reactive Systems Inc. www.reactive-systems.com

Schaeffler Engineering GmbH www.schaeffler-engineering.com

Current TargetLink Partners

402018

Model CompareComparing Simulink®, Statefl ow®, and TargetLink models

Application Areas Automatic comparison is a must whenever you work with

multiple versions of a model. Model Compare from dSPACE

can be used with any TargetLink, MathWorks® Simulink

or Statefl ow model, and also supports libraries. There is a

broad range of use cases for Model Compare , for example:

�n Managing different model versions or model variants

�n Merging parallel development branches

�n Verifying and reviewing model changes

Key Benefi ts Model Compare fi nds all the changes in a model. Even

large models can be compared in minutes, which would be

practically impossible without tool support. Furthermore,

the optional three-way model analysis detects confl icting

changes and shows how models have changed rather than

only their differences. You can use fi lters to focus on relevant

differences and ignore unimportant ones, such as layout

changes or simulation settings. The support for review ses-

sions also enables reliable, safe, and controlled reviews of

model changes. The merge support simplifi es the synchro-

nization of changes in different versions of a model.

Highlights

�n Graphical display of differences

�n Generation of difference reports

�n Built-in support for TargetLink

�n Flexible difference fi lters

�n Review support

�n Merge support for models

�n Command line interface for tool automation

�n NEW: Confl ict detection and handling

TargetLink Support

Model Compare has built-in support for all TargetLink blocks

and properties. They are displayed and handled like ordinary

Simulink/Statefl ow elements, so you do not have to bother

with TargetLink implementation details. Since the semantics

of TargetLink properties are known, they are also intelligently

handled by the predefi ned fi lter options.

Review Sessions and Merge SupportYou can associate review comments to block and property

differences found by the tool, including date/author tracing.

Complex reviews with multiple participants are supported.

Detected changes can be transferred from one model to

another to merge parallel development branches or man-

age different model variants. With easy-to-use commands,

merging models this way is much less error-prone than it

would be by hand. The remaining differences between the

models are constantly kept up-to-date, so that you always

see the current state of your work.

Model Compare Production Code Generation Software /

412018

Main Features and Benefits

Feature Description Benefit

Support for TargetLink

�n Model Compare recognizes TargetLink blocks and properties, and handles them just like built-in blocks.

�n There is no need to bother with TargetLink implementation details.

Three-way analysis with conflict detection

�n Optional analysis of a third (common ancestor) model �n Detailed information on conflicting changes and how the models have changed rather than only their differences

Powerful comparison algorithm �n Models from different MATLAB versions are compared; block correspondences are detected even if the names of the blocks have changed; parameter values are compared either in unevaluated form (e.g., “Kp”) or in evaluated form (e.g., “5.4”).

�n Conversion and upgrade problems can be addressed and conflicting changes can be detected. You get concise comparison results even if blocks were renamed. Different workspace settings can be taken into account.

Flexible filter configuration �n Model Compare can be configured to filter out unimportant differences, e.g., layout changes or simulation options, according to a variety of criteria. A comparison can be restricted to selected subsystems.

�n You can focus on the differences and model parts that are relevant to you. This greatly improves the efficiency of a comparison.

Convenient result display �n The comparison results are displayed in synchronized tree views, with differences indicated by customizable color schemes. A statistics window displays the number of changed, added and removed elements.

�n You can easily see which elements correspond to each other. Added, removed and modified elements as well as the number and type of changes can be seen at a glance.

Review support �n Comments can be associated with individual blocks and properties or with the complete comparison session.

�n Reviews are performed in a reliable, controlled and safe way. You can also use the comment function to structure your own working process.

Traceability from Model Compare to model

�n You can easily highlight Simulink and Stateflow elements by selecting them in Model Compare, and show any differences directly in the compared models.

�n It is easy to view the context of a change and all the differences in a subsystem.

Traceability from model back to Model Compare

�n You can trace model elements in Simulink back to Model Compare.

�n This is helpful to identify blocks and lines in Model Compare.

Merge support �n The commands Copy to Right, Copy to Left, and Delete can be used to transfer changes from one model to another.

�n You can merge parallel development branches and transfer changes between different model variants.

Report generation �n You can save comparison results and associated comments as HTML, PDF and XML reports, model screenshots can be integrated in the difference reports.

�n The information can be archived and published.

Tool automation �n You can start the comparison via the command line, and reports can be generated automatically. Reports can be saved in XML format for easy processing by external tools.

�n You can process multiple models automatically and incorporate Model Compare into your own tool chain.

Order Information

Product Order Number

Model Compare �n MOC

Relevant Software

Software

Required Operating system �n www.dspace.com/goto?os_compatibility

Integrated development environment �n MathWorks® MATLAB®/Simulink®/Stateflow®

Optional Production code generator TargetLink �n See p. 2

Model CompareProduction Code Generation Software /

422018

Graphical Display of DifferencesModel Compare shows all model differences clearly arranged

in two synchronized tree views, where changed, added and

removed elements are indicated by customizable colors.

While navigating through the model hierarchy, all prop-

erty differences can be inspected in the Property Inspector.

Predefi ned and fl exible fi lter confi gurations improve the ef-

fi ciency of the comparison and let you adjust the view to

your individual needs.

NEW: Model Compare 2.8

Feature Benefi t

Confl ict detection and handling �n Quick detection of all confl icting changes thanks to a special marking and new fi lter options in three-way analysis

Comfort Copy in three-way analysis �n Simpler merging because all changed but non-confl icting model elements are copied to the target model in one step

New display fi lter and improved fi lter defi nition �n More effi cient working thanks to �n a new display fi lter for three-way analysis�n a comfortable fi lter defi nition for blocks and properties via context menus

Support of commented out/through blocks �n Precise comparison results and fi lter options even in the case of commented out/through blocks

Improved report generation �n More effi cient working thanks to�n a one-click report generation�n an improved report overview and readability

Graphical display of differences in Model Compare and directly in Simulink/TargetLink models.

Differences can be traced from Model Compare directly to

the Simulink/TargetLink models, where the corresponding

elements are indicated by customizable colors. Thus, the dif-

ferences can be easily inspected in the context of the models.

In addition, elements of Simulink/TargetLink models can

also be traced back to Model Compare to inspect all their

differences at a glance.


432018

Report GenerationComparison results and associated comments can be saved

as difference reports in HTML, PDF and XML format. The

generated reports also include all the comments that were

created during a review. Thus, Model Compare´s difference

reports are also a means of fi ling review results.

There are advanced confi guration options for customiz-

ing the report according to individual preferences. You can

specify the subsystem level up to which screenshots are

provided and the level of detail of the report.

Difference reports in different fi le formats for publishing and/or archiving the comparison results.

Merge SupportWith Model Compare you can eliminate differences be-

tween two Simulink/TargetLink models by merging the two

models. Changes of model elements as well as individual

properties can be transferred from one model to the other

by commands Copy to Right, Copy to Left or Delete, if

these changes exist in only one model. After performing a

three-way analysis, additional comfort copy commands are

available for simpler merging, e.g., copying all changed but

non-confl icting model elements to the target model at once.

A smart line handling mechanism automatically adjusts signal

lines of copied or deleted blocks. If a block is copied, the re-

lated signal lines are copied as well. If a block is deleted, the

related signal lines are automatically deleted or reconnected.

All merge operations are logged in the merge log window.

Model Compare Merge Support.


442018

Review SupportWith Model Compare you can associate review comments

with the found block and property differences or even with

the complete comparison session. Time stamps as well as

author information are added automatically by the tool.

Thus, Model Compare supports even complex reviews with

multiple participants.

Advanced Filter OptionsTo make your work as effi cient as possible, Model Compare

provides several fi lter options. Thus, you can focus on the

differences and model parts that are relevant to you and

your current work: Via display fi lters you can specify which

model elements to show in the hierarchy display. You can

use predefi ned fi lters to focus on a specifi c kind of difference

or fi lter out unimportant ones such as layout changes or

simulation settings. You can also defi ne your own fi lters to

exclude element properties or even entire model elements

from the comparison. To reuse the defi ned fi lter settings

in other projects, you can save them as favorites or export

them as XML fi les.

Review comments even from different users are supported.

Display fi lter, block type and property fi lter as well as predefi ned basic fi lters for ensuring effi cient model comparisons.


452018

Customizing Block ComparisonIn order to make the comparison as effi cient as possible also

for models from other domains, Model Compare provides a

new add-on mechanism. This mechanism lets you use hook

scripts to integrate block-specifi c knowledge in the compari-

son of any number of Simulink-based models. Differences

in mask variables or block dialog parameters can therefore

be displayed immediately, a method that has already been

established for TargetLink models. Thus, Model Compare

now provides a concise and effi cient model comparison

also for models from other domains, such as rapid control

prototyping (RCP) and hardware-in-the-loop (HIL) simulation.

Via hooks, you can format the display of differences of any block dialog parameters or mask values individually. This gives you a concise and effi cient model comparison for any Simulink-based models, e.g., for RCP or HIL models.


462018

472018

www.dspace.com

02/2018

Germany

dSPACE GmbHRathenaustraße 2633102 PaderbornTel.: +49 5251 1638-0 Fax: +49 5251 16198-0 [email protected]

China

dSPACE Mechatronic Control Technology (Shanghai) Co., Ltd. Unit 1101-1105, 11F/LMiddle Xizang Rd. 18 Harbour Ring Plaza200001 ShanghaiTel.: +86 21 6391 7666 Fax: +86 21 6391 7445 [email protected]

United Kingdom

dSPACE Ltd.Unit B7 . Beech HouseMelbourn Science ParkMelbourn Hertfordshire . SG8 6HBTel.: +44 1763 269 020Fax: +44 1763 269 [email protected]

Japan

dSPACE Japan K.K.10F Gotenyama Trust Tower4-7-35 KitashinagawaShinagawa-kuTokyo 140-0001Tel.: +81 3 5798 5460Fax: +81 3 5798 [email protected]

France

dSPACE SARL7 Parc Burospace Route de Gisy91573 Bièvres CedexTel.: +33 169 355 060Fax: +33 169 355 [email protected]

USA and Canada

dSPACE Inc.50131 Pontiac TrailWixom . MI 48393-2020Tel.: +1 248 295 4700Fax: +1 248 295 [email protected]

© Copyright 2018 by dSPACE GmbH.

All rights reserved. Written permission is required for reproduction of all or parts of this publication. The source must be stated in any such reproduction. dSPACE is continually improving its products and reserves the right to alter the specifications of the products at any time without notice. "ConfigurationDesk", "ControlDesk", "dSPACE", "Embedded Success dSPACE", "Green Success", "MicroAutoBox", "MicroLabBox", "ProMINT", "SCALEXIO", "SYNECT", "SystemDesk", "TargetLink", and "VEOS" are trademarks or registered trademarks of dSPACE GmbH in the United States of America or in other countries or both. Other brand names or product names are trademarks or registered trademarks of their respective companies or organizations.

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